public class Aruco extends Object
Modifier and Type | Field and Description |
---|---|
static int |
ARUCO_CCW_CENTER |
static int |
ARUCO_CW_TOP_LEFT_CORNER |
Constructor and Description |
---|
Aruco() |
Modifier and Type | Method and Description |
---|---|
static double |
calibrateCameraAruco(List<Mat> corners,
Mat ids,
Mat counter,
Board board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs)
It's the same function as #calibrateCameraAruco but without calibration error estimation.
|
static double |
calibrateCameraAruco(List<Mat> corners,
Mat ids,
Mat counter,
Board board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs)
It's the same function as #calibrateCameraAruco but without calibration error estimation.
|
static double |
calibrateCameraAruco(List<Mat> corners,
Mat ids,
Mat counter,
Board board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs,
List<Mat> tvecs)
It's the same function as #calibrateCameraAruco but without calibration error estimation.
|
static double |
calibrateCameraAruco(List<Mat> corners,
Mat ids,
Mat counter,
Board board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs,
List<Mat> tvecs,
int flags)
It's the same function as #calibrateCameraAruco but without calibration error estimation.
|
static double |
calibrateCameraAruco(List<Mat> corners,
Mat ids,
Mat counter,
Board board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs,
List<Mat> tvecs,
int flags,
TermCriteria criteria)
It's the same function as #calibrateCameraAruco but without calibration error estimation.
|
static double |
calibrateCameraArucoExtended(List<Mat> corners,
Mat ids,
Mat counter,
Board board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs,
List<Mat> tvecs,
Mat stdDeviationsIntrinsics,
Mat stdDeviationsExtrinsics,
Mat perViewErrors)
Calibrate a camera using aruco markers
|
static double |
calibrateCameraArucoExtended(List<Mat> corners,
Mat ids,
Mat counter,
Board board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs,
List<Mat> tvecs,
Mat stdDeviationsIntrinsics,
Mat stdDeviationsExtrinsics,
Mat perViewErrors,
int flags)
Calibrate a camera using aruco markers
|
static double |
calibrateCameraArucoExtended(List<Mat> corners,
Mat ids,
Mat counter,
Board board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs,
List<Mat> tvecs,
Mat stdDeviationsIntrinsics,
Mat stdDeviationsExtrinsics,
Mat perViewErrors,
int flags,
TermCriteria criteria)
Calibrate a camera using aruco markers
|
static double |
calibrateCameraCharuco(List<Mat> charucoCorners,
List<Mat> charucoIds,
CharucoBoard board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs)
It's the same function as #calibrateCameraCharuco but without calibration error estimation.
|
static double |
calibrateCameraCharuco(List<Mat> charucoCorners,
List<Mat> charucoIds,
CharucoBoard board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs)
It's the same function as #calibrateCameraCharuco but without calibration error estimation.
|
static double |
calibrateCameraCharuco(List<Mat> charucoCorners,
List<Mat> charucoIds,
CharucoBoard board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs,
List<Mat> tvecs)
It's the same function as #calibrateCameraCharuco but without calibration error estimation.
|
static double |
calibrateCameraCharuco(List<Mat> charucoCorners,
List<Mat> charucoIds,
CharucoBoard board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs,
List<Mat> tvecs,
int flags)
It's the same function as #calibrateCameraCharuco but without calibration error estimation.
|
static double |
calibrateCameraCharuco(List<Mat> charucoCorners,
List<Mat> charucoIds,
CharucoBoard board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs,
List<Mat> tvecs,
int flags,
TermCriteria criteria)
It's the same function as #calibrateCameraCharuco but without calibration error estimation.
|
static double |
calibrateCameraCharucoExtended(List<Mat> charucoCorners,
List<Mat> charucoIds,
CharucoBoard board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs,
List<Mat> tvecs,
Mat stdDeviationsIntrinsics,
Mat stdDeviationsExtrinsics,
Mat perViewErrors)
Calibrate a camera using Charuco corners
|
static double |
calibrateCameraCharucoExtended(List<Mat> charucoCorners,
List<Mat> charucoIds,
CharucoBoard board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs,
List<Mat> tvecs,
Mat stdDeviationsIntrinsics,
Mat stdDeviationsExtrinsics,
Mat perViewErrors,
int flags)
Calibrate a camera using Charuco corners
|
static double |
calibrateCameraCharucoExtended(List<Mat> charucoCorners,
List<Mat> charucoIds,
CharucoBoard board,
Size imageSize,
Mat cameraMatrix,
Mat distCoeffs,
List<Mat> rvecs,
List<Mat> tvecs,
Mat stdDeviationsIntrinsics,
Mat stdDeviationsExtrinsics,
Mat perViewErrors,
int flags,
TermCriteria criteria)
Calibrate a camera using Charuco corners
|
static void |
detectCharucoDiamond(Mat image,
List<Mat> markerCorners,
Mat markerIds,
float squareMarkerLengthRate,
List<Mat> diamondCorners,
Mat diamondIds)
Deprecated.
Use CharucoDetector::detectDiamonds
|
static void |
detectCharucoDiamond(Mat image,
List<Mat> markerCorners,
Mat markerIds,
float squareMarkerLengthRate,
List<Mat> diamondCorners,
Mat diamondIds,
Mat cameraMatrix)
Deprecated.
Use CharucoDetector::detectDiamonds
|
static void |
detectCharucoDiamond(Mat image,
List<Mat> markerCorners,
Mat markerIds,
float squareMarkerLengthRate,
List<Mat> diamondCorners,
Mat diamondIds,
Mat cameraMatrix,
Mat distCoeffs)
Deprecated.
Use CharucoDetector::detectDiamonds
|
static void |
detectCharucoDiamond(Mat image,
List<Mat> markerCorners,
Mat markerIds,
float squareMarkerLengthRate,
List<Mat> diamondCorners,
Mat diamondIds,
Mat cameraMatrix,
Mat distCoeffs,
Dictionary dictionary)
Deprecated.
Use CharucoDetector::detectDiamonds
|
static void |
detectMarkers(Mat image,
Dictionary dictionary,
List<Mat> corners,
Mat ids)
Deprecated.
Use class ArucoDetector::detectMarkers
|
static void |
detectMarkers(Mat image,
Dictionary dictionary,
List<Mat> corners,
Mat ids,
DetectorParameters parameters)
Deprecated.
Use class ArucoDetector::detectMarkers
|
static void |
detectMarkers(Mat image,
Dictionary dictionary,
List<Mat> corners,
Mat ids,
DetectorParameters parameters,
List<Mat> rejectedImgPoints)
Deprecated.
Use class ArucoDetector::detectMarkers
|
static void |
drawPlanarBoard(Board board,
Size outSize,
Mat img,
int marginSize,
int borderBits)
Deprecated.
Use Board::generateImage
|
static int |
estimatePoseBoard(List<Mat> corners,
Mat ids,
Board board,
Mat cameraMatrix,
Mat distCoeffs,
Mat rvec,
Mat tvec)
Deprecated.
Use cv::solvePnP
|
static int |
estimatePoseBoard(List<Mat> corners,
Mat ids,
Board board,
Mat cameraMatrix,
Mat distCoeffs,
Mat rvec,
Mat tvec,
boolean useExtrinsicGuess)
Deprecated.
Use cv::solvePnP
|
static boolean |
estimatePoseCharucoBoard(Mat charucoCorners,
Mat charucoIds,
CharucoBoard board,
Mat cameraMatrix,
Mat distCoeffs,
Mat rvec,
Mat tvec)
Pose estimation for a ChArUco board given some of their corners
|
static boolean |
estimatePoseCharucoBoard(Mat charucoCorners,
Mat charucoIds,
CharucoBoard board,
Mat cameraMatrix,
Mat distCoeffs,
Mat rvec,
Mat tvec,
boolean useExtrinsicGuess)
Pose estimation for a ChArUco board given some of their corners
|
static void |
estimatePoseSingleMarkers(List<Mat> corners,
float markerLength,
Mat cameraMatrix,
Mat distCoeffs,
Mat rvecs,
Mat tvecs)
Deprecated.
Use cv::solvePnP
|
static void |
estimatePoseSingleMarkers(List<Mat> corners,
float markerLength,
Mat cameraMatrix,
Mat distCoeffs,
Mat rvecs,
Mat tvecs,
Mat objPoints)
Deprecated.
Use cv::solvePnP
|
static void |
estimatePoseSingleMarkers(List<Mat> corners,
float markerLength,
Mat cameraMatrix,
Mat distCoeffs,
Mat rvecs,
Mat tvecs,
Mat objPoints,
EstimateParameters estimateParameters)
Deprecated.
Use cv::solvePnP
|
static void |
getBoardObjectAndImagePoints(Board board,
List<Mat> detectedCorners,
Mat detectedIds,
Mat objPoints,
Mat imgPoints)
Deprecated.
Use Board::matchImagePoints
|
static int |
interpolateCornersCharuco(List<Mat> markerCorners,
Mat markerIds,
Mat image,
CharucoBoard board,
Mat charucoCorners,
Mat charucoIds)
Deprecated.
Use CharucoDetector::detectBoard
|
static int |
interpolateCornersCharuco(List<Mat> markerCorners,
Mat markerIds,
Mat image,
CharucoBoard board,
Mat charucoCorners,
Mat charucoIds,
Mat cameraMatrix)
Deprecated.
Use CharucoDetector::detectBoard
|
static int |
interpolateCornersCharuco(List<Mat> markerCorners,
Mat markerIds,
Mat image,
CharucoBoard board,
Mat charucoCorners,
Mat charucoIds,
Mat cameraMatrix,
Mat distCoeffs)
Deprecated.
Use CharucoDetector::detectBoard
|
static int |
interpolateCornersCharuco(List<Mat> markerCorners,
Mat markerIds,
Mat image,
CharucoBoard board,
Mat charucoCorners,
Mat charucoIds,
Mat cameraMatrix,
Mat distCoeffs,
int minMarkers)
Deprecated.
Use CharucoDetector::detectBoard
|
static void |
refineDetectedMarkers(Mat image,
Board board,
List<Mat> detectedCorners,
Mat detectedIds,
List<Mat> rejectedCorners)
Deprecated.
Use class ArucoDetector::refineDetectedMarkers
|
static void |
refineDetectedMarkers(Mat image,
Board board,
List<Mat> detectedCorners,
Mat detectedIds,
List<Mat> rejectedCorners,
Mat cameraMatrix)
Deprecated.
Use class ArucoDetector::refineDetectedMarkers
|
static void |
refineDetectedMarkers(Mat image,
Board board,
List<Mat> detectedCorners,
Mat detectedIds,
List<Mat> rejectedCorners,
Mat cameraMatrix,
Mat distCoeffs)
Deprecated.
Use class ArucoDetector::refineDetectedMarkers
|
static void |
refineDetectedMarkers(Mat image,
Board board,
List<Mat> detectedCorners,
Mat detectedIds,
List<Mat> rejectedCorners,
Mat cameraMatrix,
Mat distCoeffs,
float minRepDistance)
Deprecated.
Use class ArucoDetector::refineDetectedMarkers
|
static void |
refineDetectedMarkers(Mat image,
Board board,
List<Mat> detectedCorners,
Mat detectedIds,
List<Mat> rejectedCorners,
Mat cameraMatrix,
Mat distCoeffs,
float minRepDistance,
float errorCorrectionRate)
Deprecated.
Use class ArucoDetector::refineDetectedMarkers
|
static void |
refineDetectedMarkers(Mat image,
Board board,
List<Mat> detectedCorners,
Mat detectedIds,
List<Mat> rejectedCorners,
Mat cameraMatrix,
Mat distCoeffs,
float minRepDistance,
float errorCorrectionRate,
boolean checkAllOrders)
Deprecated.
Use class ArucoDetector::refineDetectedMarkers
|
static void |
refineDetectedMarkers(Mat image,
Board board,
List<Mat> detectedCorners,
Mat detectedIds,
List<Mat> rejectedCorners,
Mat cameraMatrix,
Mat distCoeffs,
float minRepDistance,
float errorCorrectionRate,
boolean checkAllOrders,
Mat recoveredIdxs)
Deprecated.
Use class ArucoDetector::refineDetectedMarkers
|
static void |
refineDetectedMarkers(Mat image,
Board board,
List<Mat> detectedCorners,
Mat detectedIds,
List<Mat> rejectedCorners,
Mat cameraMatrix,
Mat distCoeffs,
float minRepDistance,
float errorCorrectionRate,
boolean checkAllOrders,
Mat recoveredIdxs,
DetectorParameters parameters)
Deprecated.
Use class ArucoDetector::refineDetectedMarkers
|
static boolean |
testCharucoCornersCollinear(CharucoBoard board,
Mat charucoIds)
Deprecated.
Use CharucoBoard::checkCharucoCornersCollinear
|
public static final int ARUCO_CCW_CENTER
public static final int ARUCO_CW_TOP_LEFT_CORNER
@Deprecated public static void detectMarkers(Mat image, Dictionary dictionary, List<Mat> corners, Mat ids, DetectorParameters parameters, List<Mat> rejectedImgPoints)
image
- automatically generateddictionary
- automatically generatedcorners
- automatically generatedids
- automatically generatedparameters
- automatically generatedrejectedImgPoints
- automatically generated@Deprecated public static void detectMarkers(Mat image, Dictionary dictionary, List<Mat> corners, Mat ids, DetectorParameters parameters)
image
- automatically generateddictionary
- automatically generatedcorners
- automatically generatedids
- automatically generatedparameters
- automatically generated@Deprecated public static void detectMarkers(Mat image, Dictionary dictionary, List<Mat> corners, Mat ids)
image
- automatically generateddictionary
- automatically generatedcorners
- automatically generatedids
- automatically generated@Deprecated public static void refineDetectedMarkers(Mat image, Board board, List<Mat> detectedCorners, Mat detectedIds, List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate, boolean checkAllOrders, Mat recoveredIdxs, DetectorParameters parameters)
image
- automatically generatedboard
- automatically generateddetectedCorners
- automatically generateddetectedIds
- automatically generatedrejectedCorners
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedminRepDistance
- automatically generatederrorCorrectionRate
- automatically generatedcheckAllOrders
- automatically generatedrecoveredIdxs
- automatically generatedparameters
- automatically generated@Deprecated public static void refineDetectedMarkers(Mat image, Board board, List<Mat> detectedCorners, Mat detectedIds, List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate, boolean checkAllOrders, Mat recoveredIdxs)
image
- automatically generatedboard
- automatically generateddetectedCorners
- automatically generateddetectedIds
- automatically generatedrejectedCorners
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedminRepDistance
- automatically generatederrorCorrectionRate
- automatically generatedcheckAllOrders
- automatically generatedrecoveredIdxs
- automatically generated@Deprecated public static void refineDetectedMarkers(Mat image, Board board, List<Mat> detectedCorners, Mat detectedIds, List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate, boolean checkAllOrders)
image
- automatically generatedboard
- automatically generateddetectedCorners
- automatically generateddetectedIds
- automatically generatedrejectedCorners
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedminRepDistance
- automatically generatederrorCorrectionRate
- automatically generatedcheckAllOrders
- automatically generated@Deprecated public static void refineDetectedMarkers(Mat image, Board board, List<Mat> detectedCorners, Mat detectedIds, List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance, float errorCorrectionRate)
image
- automatically generatedboard
- automatically generateddetectedCorners
- automatically generateddetectedIds
- automatically generatedrejectedCorners
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedminRepDistance
- automatically generatederrorCorrectionRate
- automatically generated@Deprecated public static void refineDetectedMarkers(Mat image, Board board, List<Mat> detectedCorners, Mat detectedIds, List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs, float minRepDistance)
image
- automatically generatedboard
- automatically generateddetectedCorners
- automatically generateddetectedIds
- automatically generatedrejectedCorners
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedminRepDistance
- automatically generated@Deprecated public static void refineDetectedMarkers(Mat image, Board board, List<Mat> detectedCorners, Mat detectedIds, List<Mat> rejectedCorners, Mat cameraMatrix, Mat distCoeffs)
image
- automatically generatedboard
- automatically generateddetectedCorners
- automatically generateddetectedIds
- automatically generatedrejectedCorners
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generated@Deprecated public static void refineDetectedMarkers(Mat image, Board board, List<Mat> detectedCorners, Mat detectedIds, List<Mat> rejectedCorners, Mat cameraMatrix)
image
- automatically generatedboard
- automatically generateddetectedCorners
- automatically generateddetectedIds
- automatically generatedrejectedCorners
- automatically generatedcameraMatrix
- automatically generated@Deprecated public static void refineDetectedMarkers(Mat image, Board board, List<Mat> detectedCorners, Mat detectedIds, List<Mat> rejectedCorners)
image
- automatically generatedboard
- automatically generateddetectedCorners
- automatically generateddetectedIds
- automatically generatedrejectedCorners
- automatically generated@Deprecated public static void drawPlanarBoard(Board board, Size outSize, Mat img, int marginSize, int borderBits)
board
- automatically generatedoutSize
- automatically generatedimg
- automatically generatedmarginSize
- automatically generatedborderBits
- automatically generated@Deprecated public static void getBoardObjectAndImagePoints(Board board, List<Mat> detectedCorners, Mat detectedIds, Mat objPoints, Mat imgPoints)
board
- automatically generateddetectedCorners
- automatically generateddetectedIds
- automatically generatedobjPoints
- automatically generatedimgPoints
- automatically generated@Deprecated public static int estimatePoseBoard(List<Mat> corners, Mat ids, Board board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, boolean useExtrinsicGuess)
corners
- automatically generatedids
- automatically generatedboard
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvec
- automatically generatedtvec
- automatically generateduseExtrinsicGuess
- automatically generated@Deprecated public static int estimatePoseBoard(List<Mat> corners, Mat ids, Board board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec)
corners
- automatically generatedids
- automatically generatedboard
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvec
- automatically generatedtvec
- automatically generatedpublic static boolean estimatePoseCharucoBoard(Mat charucoCorners, Mat charucoIds, CharucoBoard board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, boolean useExtrinsicGuess)
charucoCorners
- vector of detected charuco cornerscharucoIds
- list of identifiers for each corner in charucoCornersboard
- layout of ChArUco board.cameraMatrix
- input 3x3 floating-point camera matrix
\(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)distCoeffs
- vector of distortion coefficients
\((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elementsrvec
- Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board
(see cv::Rodrigues).tvec
- Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.useExtrinsicGuess
- defines whether initial guess for \b rvec and \b tvec will be used or not.
This function estimates a Charuco board pose from some detected corners.
The function checks if the input corners are enough and valid to perform pose estimation.
If pose estimation is valid, returns true, else returns false.
SEE: use cv::drawFrameAxes to get world coordinate system axis for object pointspublic static boolean estimatePoseCharucoBoard(Mat charucoCorners, Mat charucoIds, CharucoBoard board, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec)
charucoCorners
- vector of detected charuco cornerscharucoIds
- list of identifiers for each corner in charucoCornersboard
- layout of ChArUco board.cameraMatrix
- input 3x3 floating-point camera matrix
\(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)distCoeffs
- vector of distortion coefficients
\((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elementsrvec
- Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board
(see cv::Rodrigues).tvec
- Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
This function estimates a Charuco board pose from some detected corners.
The function checks if the input corners are enough and valid to perform pose estimation.
If pose estimation is valid, returns true, else returns false.
SEE: use cv::drawFrameAxes to get world coordinate system axis for object points@Deprecated public static void estimatePoseSingleMarkers(List<Mat> corners, float markerLength, Mat cameraMatrix, Mat distCoeffs, Mat rvecs, Mat tvecs, Mat objPoints, EstimateParameters estimateParameters)
corners
- automatically generatedmarkerLength
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvecs
- automatically generatedtvecs
- automatically generatedobjPoints
- automatically generatedestimateParameters
- automatically generated@Deprecated public static void estimatePoseSingleMarkers(List<Mat> corners, float markerLength, Mat cameraMatrix, Mat distCoeffs, Mat rvecs, Mat tvecs, Mat objPoints)
corners
- automatically generatedmarkerLength
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvecs
- automatically generatedtvecs
- automatically generatedobjPoints
- automatically generated@Deprecated public static void estimatePoseSingleMarkers(List<Mat> corners, float markerLength, Mat cameraMatrix, Mat distCoeffs, Mat rvecs, Mat tvecs)
corners
- automatically generatedmarkerLength
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvecs
- automatically generatedtvecs
- automatically generated@Deprecated public static boolean testCharucoCornersCollinear(CharucoBoard board, Mat charucoIds)
board
- automatically generatedcharucoIds
- automatically generatedpublic static double calibrateCameraArucoExtended(List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, TermCriteria criteria)
corners
- vector of detected marker corners in all frames.
The corners should have the same format returned by detectMarkers (see #detectMarkers).ids
- list of identifiers for each marker in cornerscounter
- number of markers in each frame so that corners and ids can be splitboard
- Marker Board layoutimageSize
- Size of the image used only to initialize the intrinsic camera matrix.cameraMatrix
- Output 3x3 floating-point camera matrix
\(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS
and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
initialized before calling the function.distCoeffs
- Output vector of distortion coefficients
\((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elementsrvecs
- Output vector of rotation vectors (see Rodrigues ) estimated for each board view
(e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding
k-th translation vector (see the next output parameter description) brings the board pattern
from the model coordinate space (in which object points are specified) to the world coordinate
space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).tvecs
- Output vector of translation vectors estimated for each pattern view.stdDeviationsIntrinsics
- Output vector of standard deviations estimated for intrinsic parameters.
Order of deviations values:
\((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.stdDeviationsExtrinsics
- Output vector of standard deviations estimated for extrinsic parameters.
Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views,
\(R_i, T_i\) are concatenated 1x3 vectors.perViewErrors
- Output vector of average re-projection errors estimated for each pattern view.flags
- flags Different flags for the calibration process (see #calibrateCamera for details).criteria
- Termination criteria for the iterative optimization algorithm.
This function calibrates a camera using an Aruco Board. The function receives a list of
detected markers from several views of the Board. The process is similar to the chessboard
calibration in calibrateCamera(). The function returns the final re-projection error.public static double calibrateCameraArucoExtended(List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags)
corners
- vector of detected marker corners in all frames.
The corners should have the same format returned by detectMarkers (see #detectMarkers).ids
- list of identifiers for each marker in cornerscounter
- number of markers in each frame so that corners and ids can be splitboard
- Marker Board layoutimageSize
- Size of the image used only to initialize the intrinsic camera matrix.cameraMatrix
- Output 3x3 floating-point camera matrix
\(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS
and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
initialized before calling the function.distCoeffs
- Output vector of distortion coefficients
\((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elementsrvecs
- Output vector of rotation vectors (see Rodrigues ) estimated for each board view
(e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding
k-th translation vector (see the next output parameter description) brings the board pattern
from the model coordinate space (in which object points are specified) to the world coordinate
space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).tvecs
- Output vector of translation vectors estimated for each pattern view.stdDeviationsIntrinsics
- Output vector of standard deviations estimated for intrinsic parameters.
Order of deviations values:
\((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.stdDeviationsExtrinsics
- Output vector of standard deviations estimated for extrinsic parameters.
Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views,
\(R_i, T_i\) are concatenated 1x3 vectors.perViewErrors
- Output vector of average re-projection errors estimated for each pattern view.flags
- flags Different flags for the calibration process (see #calibrateCamera for details).
This function calibrates a camera using an Aruco Board. The function receives a list of
detected markers from several views of the Board. The process is similar to the chessboard
calibration in calibrateCamera(). The function returns the final re-projection error.public static double calibrateCameraArucoExtended(List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors)
corners
- vector of detected marker corners in all frames.
The corners should have the same format returned by detectMarkers (see #detectMarkers).ids
- list of identifiers for each marker in cornerscounter
- number of markers in each frame so that corners and ids can be splitboard
- Marker Board layoutimageSize
- Size of the image used only to initialize the intrinsic camera matrix.cameraMatrix
- Output 3x3 floating-point camera matrix
\(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS
and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
initialized before calling the function.distCoeffs
- Output vector of distortion coefficients
\((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elementsrvecs
- Output vector of rotation vectors (see Rodrigues ) estimated for each board view
(e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding
k-th translation vector (see the next output parameter description) brings the board pattern
from the model coordinate space (in which object points are specified) to the world coordinate
space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).tvecs
- Output vector of translation vectors estimated for each pattern view.stdDeviationsIntrinsics
- Output vector of standard deviations estimated for intrinsic parameters.
Order of deviations values:
\((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.stdDeviationsExtrinsics
- Output vector of standard deviations estimated for extrinsic parameters.
Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views,
\(R_i, T_i\) are concatenated 1x3 vectors.perViewErrors
- Output vector of average re-projection errors estimated for each pattern view.
This function calibrates a camera using an Aruco Board. The function receives a list of
detected markers from several views of the Board. The process is similar to the chessboard
calibration in calibrateCamera(). The function returns the final re-projection error.public static double calibrateCameraAruco(List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, int flags, TermCriteria criteria)
corners
- automatically generatedids
- automatically generatedcounter
- automatically generatedboard
- automatically generatedimageSize
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvecs
- automatically generatedtvecs
- automatically generatedflags
- automatically generatedcriteria
- automatically generatedpublic static double calibrateCameraAruco(List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, int flags)
corners
- automatically generatedids
- automatically generatedcounter
- automatically generatedboard
- automatically generatedimageSize
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvecs
- automatically generatedtvecs
- automatically generatedflags
- automatically generatedpublic static double calibrateCameraAruco(List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs)
corners
- automatically generatedids
- automatically generatedcounter
- automatically generatedboard
- automatically generatedimageSize
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvecs
- automatically generatedtvecs
- automatically generatedpublic static double calibrateCameraAruco(List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs)
corners
- automatically generatedids
- automatically generatedcounter
- automatically generatedboard
- automatically generatedimageSize
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvecs
- automatically generatedpublic static double calibrateCameraAruco(List<Mat> corners, Mat ids, Mat counter, Board board, Size imageSize, Mat cameraMatrix, Mat distCoeffs)
corners
- automatically generatedids
- automatically generatedcounter
- automatically generatedboard
- automatically generatedimageSize
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedpublic static double calibrateCameraCharucoExtended(List<Mat> charucoCorners, List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, TermCriteria criteria)
charucoCorners
- vector of detected charuco corners per framecharucoIds
- list of identifiers for each corner in charucoCorners per frameboard
- Marker Board layoutimageSize
- input image sizecameraMatrix
- Output 3x3 floating-point camera matrix
\(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS
and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
initialized before calling the function.distCoeffs
- Output vector of distortion coefficients
\((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elementsrvecs
- Output vector of rotation vectors (see Rodrigues ) estimated for each board view
(e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding
k-th translation vector (see the next output parameter description) brings the board pattern
from the model coordinate space (in which object points are specified) to the world coordinate
space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).tvecs
- Output vector of translation vectors estimated for each pattern view.stdDeviationsIntrinsics
- Output vector of standard deviations estimated for intrinsic parameters.
Order of deviations values:
\((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.stdDeviationsExtrinsics
- Output vector of standard deviations estimated for extrinsic parameters.
Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views,
\(R_i, T_i\) are concatenated 1x3 vectors.perViewErrors
- Output vector of average re-projection errors estimated for each pattern view.flags
- flags Different flags for the calibration process (see #calibrateCamera for details).criteria
- Termination criteria for the iterative optimization algorithm.
This function calibrates a camera using a set of corners of a Charuco Board. The function
receives a list of detected corners and its identifiers from several views of the Board.
The function returns the final re-projection error.public static double calibrateCameraCharucoExtended(List<Mat> charucoCorners, List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags)
charucoCorners
- vector of detected charuco corners per framecharucoIds
- list of identifiers for each corner in charucoCorners per frameboard
- Marker Board layoutimageSize
- input image sizecameraMatrix
- Output 3x3 floating-point camera matrix
\(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS
and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
initialized before calling the function.distCoeffs
- Output vector of distortion coefficients
\((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elementsrvecs
- Output vector of rotation vectors (see Rodrigues ) estimated for each board view
(e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding
k-th translation vector (see the next output parameter description) brings the board pattern
from the model coordinate space (in which object points are specified) to the world coordinate
space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).tvecs
- Output vector of translation vectors estimated for each pattern view.stdDeviationsIntrinsics
- Output vector of standard deviations estimated for intrinsic parameters.
Order of deviations values:
\((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.stdDeviationsExtrinsics
- Output vector of standard deviations estimated for extrinsic parameters.
Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views,
\(R_i, T_i\) are concatenated 1x3 vectors.perViewErrors
- Output vector of average re-projection errors estimated for each pattern view.flags
- flags Different flags for the calibration process (see #calibrateCamera for details).
This function calibrates a camera using a set of corners of a Charuco Board. The function
receives a list of detected corners and its identifiers from several views of the Board.
The function returns the final re-projection error.public static double calibrateCameraCharucoExtended(List<Mat> charucoCorners, List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors)
charucoCorners
- vector of detected charuco corners per framecharucoIds
- list of identifiers for each corner in charucoCorners per frameboard
- Marker Board layoutimageSize
- input image sizecameraMatrix
- Output 3x3 floating-point camera matrix
\(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) . If CV\_CALIB\_USE\_INTRINSIC\_GUESS
and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
initialized before calling the function.distCoeffs
- Output vector of distortion coefficients
\((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elementsrvecs
- Output vector of rotation vectors (see Rodrigues ) estimated for each board view
(e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding
k-th translation vector (see the next output parameter description) brings the board pattern
from the model coordinate space (in which object points are specified) to the world coordinate
space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).tvecs
- Output vector of translation vectors estimated for each pattern view.stdDeviationsIntrinsics
- Output vector of standard deviations estimated for intrinsic parameters.
Order of deviations values:
\((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.stdDeviationsExtrinsics
- Output vector of standard deviations estimated for extrinsic parameters.
Order of deviations values: \((R_1, T_1, \dotsc , R_M, T_M)\) where M is number of pattern views,
\(R_i, T_i\) are concatenated 1x3 vectors.perViewErrors
- Output vector of average re-projection errors estimated for each pattern view.
This function calibrates a camera using a set of corners of a Charuco Board. The function
receives a list of detected corners and its identifiers from several views of the Board.
The function returns the final re-projection error.public static double calibrateCameraCharuco(List<Mat> charucoCorners, List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, int flags, TermCriteria criteria)
charucoCorners
- automatically generatedcharucoIds
- automatically generatedboard
- automatically generatedimageSize
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvecs
- automatically generatedtvecs
- automatically generatedflags
- automatically generatedcriteria
- automatically generatedpublic static double calibrateCameraCharuco(List<Mat> charucoCorners, List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, int flags)
charucoCorners
- automatically generatedcharucoIds
- automatically generatedboard
- automatically generatedimageSize
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvecs
- automatically generatedtvecs
- automatically generatedflags
- automatically generatedpublic static double calibrateCameraCharuco(List<Mat> charucoCorners, List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs)
charucoCorners
- automatically generatedcharucoIds
- automatically generatedboard
- automatically generatedimageSize
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvecs
- automatically generatedtvecs
- automatically generatedpublic static double calibrateCameraCharuco(List<Mat> charucoCorners, List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs)
charucoCorners
- automatically generatedcharucoIds
- automatically generatedboard
- automatically generatedimageSize
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generatedrvecs
- automatically generatedpublic static double calibrateCameraCharuco(List<Mat> charucoCorners, List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs)
charucoCorners
- automatically generatedcharucoIds
- automatically generatedboard
- automatically generatedimageSize
- automatically generatedcameraMatrix
- automatically generateddistCoeffs
- automatically generated@Deprecated public static int interpolateCornersCharuco(List<Mat> markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix, Mat distCoeffs, int minMarkers)
markerCorners
- vector of already detected markers corners. For each marker, its four
corners are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the
dimensions of this array should be Nx4. The order of the corners should be clockwise.markerIds
- list of identifiers for each marker in cornersimage
- input image necesary for corner refinement. Note that markers are not detected and
should be sent in corners and ids parameters.board
- layout of ChArUco board.charucoCorners
- interpolated chessboard cornerscharucoIds
- interpolated chessboard corners identifierscameraMatrix
- optional 3x3 floating-point camera matrix
\(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)distCoeffs
- optional vector of distortion coefficients
\((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elementsminMarkers
- number of adjacent markers that must be detected to return a charuco corner
This function receives the detected markers and returns the 2D position of the chessboard corners
from a ChArUco board using the detected Aruco markers. If camera parameters are provided,
the process is based in an approximated pose estimation, else it is based on local homography.
Only visible corners are returned. For each corner, its corresponding identifier is
also returned in charucoIds.
The function returns the number of interpolated corners.@Deprecated public static int interpolateCornersCharuco(List<Mat> markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix, Mat distCoeffs)
markerCorners
- vector of already detected markers corners. For each marker, its four
corners are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the
dimensions of this array should be Nx4. The order of the corners should be clockwise.markerIds
- list of identifiers for each marker in cornersimage
- input image necesary for corner refinement. Note that markers are not detected and
should be sent in corners and ids parameters.board
- layout of ChArUco board.charucoCorners
- interpolated chessboard cornerscharucoIds
- interpolated chessboard corners identifierscameraMatrix
- optional 3x3 floating-point camera matrix
\(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)distCoeffs
- optional vector of distortion coefficients
\((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
This function receives the detected markers and returns the 2D position of the chessboard corners
from a ChArUco board using the detected Aruco markers. If camera parameters are provided,
the process is based in an approximated pose estimation, else it is based on local homography.
Only visible corners are returned. For each corner, its corresponding identifier is
also returned in charucoIds.
The function returns the number of interpolated corners.@Deprecated public static int interpolateCornersCharuco(List<Mat> markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds, Mat cameraMatrix)
markerCorners
- vector of already detected markers corners. For each marker, its four
corners are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the
dimensions of this array should be Nx4. The order of the corners should be clockwise.markerIds
- list of identifiers for each marker in cornersimage
- input image necesary for corner refinement. Note that markers are not detected and
should be sent in corners and ids parameters.board
- layout of ChArUco board.charucoCorners
- interpolated chessboard cornerscharucoIds
- interpolated chessboard corners identifierscameraMatrix
- optional 3x3 floating-point camera matrix
\(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
\((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
This function receives the detected markers and returns the 2D position of the chessboard corners
from a ChArUco board using the detected Aruco markers. If camera parameters are provided,
the process is based in an approximated pose estimation, else it is based on local homography.
Only visible corners are returned. For each corner, its corresponding identifier is
also returned in charucoIds.
The function returns the number of interpolated corners.@Deprecated public static int interpolateCornersCharuco(List<Mat> markerCorners, Mat markerIds, Mat image, CharucoBoard board, Mat charucoCorners, Mat charucoIds)
markerCorners
- vector of already detected markers corners. For each marker, its four
corners are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the
dimensions of this array should be Nx4. The order of the corners should be clockwise.markerIds
- list of identifiers for each marker in cornersimage
- input image necesary for corner refinement. Note that markers are not detected and
should be sent in corners and ids parameters.board
- layout of ChArUco board.charucoCorners
- interpolated chessboard cornerscharucoIds
- interpolated chessboard corners identifiers
\(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\)
\((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\) of 4, 5, 8 or 12 elements
This function receives the detected markers and returns the 2D position of the chessboard corners
from a ChArUco board using the detected Aruco markers. If camera parameters are provided,
the process is based in an approximated pose estimation, else it is based on local homography.
Only visible corners are returned. For each corner, its corresponding identifier is
also returned in charucoIds.
The function returns the number of interpolated corners.@Deprecated public static void detectCharucoDiamond(Mat image, List<Mat> markerCorners, Mat markerIds, float squareMarkerLengthRate, List<Mat> diamondCorners, Mat diamondIds, Mat cameraMatrix, Mat distCoeffs, Dictionary dictionary)
image
- input image necessary for corner subpixel.markerCorners
- list of detected marker corners from detectMarkers function.markerIds
- list of marker ids in markerCorners.squareMarkerLengthRate
- rate between square and marker length:
squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.diamondCorners
- output list of detected diamond corners (4 corners per diamond). The order
is the same than in marker corners: top left, top right, bottom right and bottom left. Similar
format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f> > ).diamondIds
- ids of the diamonds in diamondCorners. The id of each diamond is in fact of
type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the
diamond.cameraMatrix
- Optional camera calibration matrix.distCoeffs
- Optional camera distortion coefficients.dictionary
- dictionary of markers indicating the type of markers.
This function detects Diamond markers from the previous detected ArUco markers. The diamonds
are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters
are provided, the diamond search is based on reprojection. If not, diamond search is based on
homography. Homography is faster than reprojection, but less accurate.@Deprecated public static void detectCharucoDiamond(Mat image, List<Mat> markerCorners, Mat markerIds, float squareMarkerLengthRate, List<Mat> diamondCorners, Mat diamondIds, Mat cameraMatrix, Mat distCoeffs)
image
- input image necessary for corner subpixel.markerCorners
- list of detected marker corners from detectMarkers function.markerIds
- list of marker ids in markerCorners.squareMarkerLengthRate
- rate between square and marker length:
squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.diamondCorners
- output list of detected diamond corners (4 corners per diamond). The order
is the same than in marker corners: top left, top right, bottom right and bottom left. Similar
format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f> > ).diamondIds
- ids of the diamonds in diamondCorners. The id of each diamond is in fact of
type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the
diamond.cameraMatrix
- Optional camera calibration matrix.distCoeffs
- Optional camera distortion coefficients.
This function detects Diamond markers from the previous detected ArUco markers. The diamonds
are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters
are provided, the diamond search is based on reprojection. If not, diamond search is based on
homography. Homography is faster than reprojection, but less accurate.@Deprecated public static void detectCharucoDiamond(Mat image, List<Mat> markerCorners, Mat markerIds, float squareMarkerLengthRate, List<Mat> diamondCorners, Mat diamondIds, Mat cameraMatrix)
image
- input image necessary for corner subpixel.markerCorners
- list of detected marker corners from detectMarkers function.markerIds
- list of marker ids in markerCorners.squareMarkerLengthRate
- rate between square and marker length:
squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.diamondCorners
- output list of detected diamond corners (4 corners per diamond). The order
is the same than in marker corners: top left, top right, bottom right and bottom left. Similar
format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f> > ).diamondIds
- ids of the diamonds in diamondCorners. The id of each diamond is in fact of
type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the
diamond.cameraMatrix
- Optional camera calibration matrix.
This function detects Diamond markers from the previous detected ArUco markers. The diamonds
are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters
are provided, the diamond search is based on reprojection. If not, diamond search is based on
homography. Homography is faster than reprojection, but less accurate.@Deprecated public static void detectCharucoDiamond(Mat image, List<Mat> markerCorners, Mat markerIds, float squareMarkerLengthRate, List<Mat> diamondCorners, Mat diamondIds)
image
- input image necessary for corner subpixel.markerCorners
- list of detected marker corners from detectMarkers function.markerIds
- list of marker ids in markerCorners.squareMarkerLengthRate
- rate between square and marker length:
squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.diamondCorners
- output list of detected diamond corners (4 corners per diamond). The order
is the same than in marker corners: top left, top right, bottom right and bottom left. Similar
format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f> > ).diamondIds
- ids of the diamonds in diamondCorners. The id of each diamond is in fact of
type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the
diamond.
This function detects Diamond markers from the previous detected ArUco markers. The diamonds
are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters
are provided, the diamond search is based on reprojection. If not, diamond search is based on
homography. Homography is faster than reprojection, but less accurate.Copyright © 2024. All rights reserved.